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# OrbbecSDK ROS2 Wrapper v2
> [!IMPORTANT]
>
> Welcome to the OrbbecSDK ROS2 Wrapper v2. Before you begin using this version of ROS2 wrapper, it's crucial to check the following [device support list](#supported-devices) to verify the compatibility.
[English](./README.MD) | [中文](./README_CN.MD)
OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, and Jazzy distributions.
## Introduction
By default, we recommend using the **v2-main** branch. For older OpenNI devices not supported by v2-main, please use the **main** branch. Device models that are only supported by the main branch are listed in the table below.
The **OrbbecSDK ROS2 Wrapper** provides seamless integration of Orbbec cameras with the ROS 2 ecosystem.
It supports ROS2 **Foxy**, **Humble**, and **Jazzy** distributions.
If you are a user in China, it is recommended to use [gitee Repo](https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2).
- Default branch: **v2-main**
- For legacy **OpenNI** devices: use the **main** branch
- For users in China: use the [Gitee repository](https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2)
## branch selection
Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
@@ -189,51 +190,13 @@ ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
ros-$ROS_DISTRO-backward-ros libdw-dev
```
Optional dependencies:
```bash
# Optional dependencies:
# 435Le writeCustomerDate feature:
sudo apt install libssl-dev
```
Install udev rules.
```bash
cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger
```
## Supported Devices
Currently, the following devices are supported by the OrbbecSDK ROS2 Wrapper v2-main branch. More devices support will be added in the near future. If you can not find your device in the table below, try the [main](https://github.com/orbbec/OrbbecSDK_ROS2) branch.
For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.
| Product List | Minimal Firmware Version | **Launch File** |
| :------------- | :----------------------- | :-------------------------- |
| Gemini 435Le | 1.2.04 | gemini435_le.launch.py |
| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
| Gemini 336 | 1.2.20 | gemini_330_series.launch.py |
| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
| Gemini 335Le | 1.5.31 | gemini_330_series.launch.py |
| Gemini 330 | 1.2.20 | gemini_330_series.launch.py |
| Gemini 330L | 1.2.20 | gemini_330_series.launch.py |
| Gemini 2 | 1.4.92 | gemini2.launch.py |
| Gemini 2 L | 1.4.53 | gemini2L.launch.py |
| Femto Bolt | 1.1.2 | femto_bolt.launch.py |
| Femto Mega | 1.3.0 | femto_mega.launch.py |
| Astra 2 | 2.8.20 | astra2.launch.py |
| Astra Mini Pro | 2.0.01 | astra.launch.py |
All launch files are essentially similar, with the primary difference being the default values of the parameters set
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.
## Getting start
build:
```bash
cd ~/ros2_ws/
@@ -242,13 +205,23 @@ source /opt/ros/$ROS_DISTRO/setup.bash
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
```
Install udev rules:
```bash
cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger
```
## Getting start
Launch camera node
- On terminal 1
```bash
source ~/ros2_ws/install/setup.bash
ros2 run orbbec_camera list_devices_node #Check if the camera is connected
ros2 run orbbec_camera list_devices_node # Check if the camera is connected
ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table
```
@@ -281,41 +254,38 @@ ros2 topic echo /camera/depth/camera_info
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'
```
- Record with rosbag2
```bash
ros2 bag record /camera/color/image_raw /camera/depth/image_raw
```
For more usage details, please refer to the official [OrbbecSDK ROS2 documentation](https://orbbec.github.io/OrbbecSDK_ROS2/source/4_application_guide/application_guide.html)
## Usage
## Supported Devices
### Check which profiles the camera supports
Currently, the following devices are supported by the OrbbecSDK ROS2 Wrapper v2-main branch. More devices support will be added in the near future. If you can not find your device in the table below, try the [main](https://github.com/orbbec/OrbbecSDK_ROS2) branch.
```bash
ros2 run orbbec_camera list_camera_profile_mode_node
```
For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.
### Optional depth presets
| Product List | Minimal Firmware Version | **Launch File** |
| :------------- | :----------------------- | :-------------------------- |
| Gemini 435Le | 1.2.04 | gemini435_le.launch.py |
| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
| Gemini 336 | 1.2.20 | gemini_330_series.launch.py |
| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
| Gemini 335Le | 1.5.31 | gemini_330_series.launch.py |
| Gemini 330 | 1.2.20 | gemini_330_series.launch.py |
| Gemini 330L | 1.2.20 | gemini_330_series.launch.py |
| Gemini 2 | 1.4.92 | gemini2.launch.py |
| Gemini 2 L | 1.4.53 | gemini2L.launch.py |
| Femto Bolt | 1.1.2 | femto_bolt.launch.py |
| Femto Mega | 1.3.0 | femto_mega.launch.py |
| Astra 2 | 2.8.20 | astra2.launch.py |
| Astra Mini Pro | 2.0.01 | astra.launch.py |
> You can pass the firmware path of the Optional preset into the `preset_firmware_path` launch param.Users can download the appropriate Preset from the [Depth Preset Release](https://www.orbbec.com/docs/depth-preset-release/) page provided by Orbbec based on their specific application scenarios and update it to the camera for better depth performance in corresponding scenarios.
All launch files are essentially similar, with the primary difference being the default values of the parameters set
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.
```bash
ros2 launch orbbec_camera gemini_330_series.launch.py preset_firmware_path:=/home/orbbec/G336X_AMR_Default_v0.0.5.bin
```
## Tutorial
### Use V4L2 backend
Note: The V4L2 backend is not enabled by default.
* Example:
```bash
ros2 launch orbbec_camera gemini_330_series.launch.py uvc_backend:=v4l2
```
For more usage details, please refer to the official [OrbbecSDK ROS2 documentation](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/advanced_guide.html)
please refer to the official [OrbbecSDK ROS2 documentation](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/advanced_guide.html)
## Examples